Preprint Article Version 1 Preserved in Portico This version is not peer-reviewed

Contact Force Control of Three-Dimensional Flexible Manipulator

Version 1 : Received: 31 October 2020 / Approved: 2 November 2020 / Online: 2 November 2020 (13:41:50 CET)

How to cite: Sasaki, M.; Ito, S.; Maeno, D.; Njeri, W.; Josephh, M.; Mulembo, T.; Matsushita, K. Contact Force Control of Three-Dimensional Flexible Manipulator. Preprints 2020, 2020110044 (doi: 10.20944/preprints202011.0044.v1). Sasaki, M.; Ito, S.; Maeno, D.; Njeri, W.; Josephh, M.; Mulembo, T.; Matsushita, K. Contact Force Control of Three-Dimensional Flexible Manipulator. Preprints 2020, 2020110044 (doi: 10.20944/preprints202011.0044.v1).

Abstract

This paper proposes a contact force controller for a constrained flexible manipulator in three-dimensional motion. This controller used the conversion formula obtained empirically and experimental results showed the effectiveness of the proposed contact force controller. First, the manipulator was operated with the tip of the second link restrained, then, time response of the root strain, joint angles and contact force were used to derive the relational between the three quantities. The effectiveness of the relational expression was verified by conducting a target contact force tracking experiment by inputting the angle from the relational expression. The contact force control using the strain feedback method was proposed with the strain amount estimated from the target contact force as the target value, and its effectiveness was verified by experiments. From the results obtained, controller using the strain feedback method was designed for the purpose of controlling the contact force at the tip of a flexible manipulator with two links and three degrees of freedom that performs three-dimensional spatial motion, and its effectiveness was shown by comparison with the contact force feedback method.

Subject Areas

Contact force control; Three-dimensional; Flexible Manipulator; Strain feedback; Force feedback

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